The inertial navigation equations describe a
moving body's time evolution relative to a frame at rest [1]}.
This time-evolution or motion of the body is
computed from measurements given by inertial sensors attached to the
body. By convention, the
moving frame and the frame at rest are denoted as the body frame and the
navigation frame, respectively. Assuming that the body moves at such speeds that the Coriolis acceleration can
be neglected, then the continuous-time equations for inertial navigation
are given by [2]}
\(\dot{R}^{nb} & = R^{nb}[\omega ^b \times ],  \\\dot{p}^n & = v^n, \\\dot{v}^n & = g^n + R^{nb} s^b.\) 
